JP7294215B2 - Conveyor and machine tools - Google Patents

Conveyor and machine tools Download PDF

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JP7294215B2
JP7294215B2 JP2020064098A JP2020064098A JP7294215B2 JP 7294215 B2 JP7294215 B2 JP 7294215B2 JP 2020064098 A JP2020064098 A JP 2020064098A JP 2020064098 A JP2020064098 A JP 2020064098A JP 7294215 B2 JP7294215 B2 JP 7294215B2
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bolt
counterbore
conveying device
arm
hand
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JP2021160033A (en
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正輝 渡邊
巌根 佐野
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Brother Industries Ltd
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Brother Industries Ltd
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Description

本発明は、アームを備える搬送装置及び工作機械に関する。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveying device and a machine tool having an arm.

近年、工具、ワーク等の対象物を搬送する搬送装置を備える工作機械が普及している。
特許文献1に記載の工作機械は、アームの先端に工具、ワーク等の対象物の把持部を有するロボットアームを備える。ロボットアームが移動機構部によって加工エリアの内外に移動して対象物を搬送する。
2. Description of the Related Art In recent years, machine tools equipped with transfer devices for transferring objects such as tools and works have become widespread.
A machine tool described in Patent Document 1 includes a robot arm having a gripping portion for an object such as a tool or a workpiece at the tip of the arm. A robot arm moves inside and outside the processing area by a movement mechanism to convey the object.

特開2016-55370号公報JP 2016-55370 A

一方、何らかの原因により、対象物の位置が正規の位置から位置がずれることがあり得る。この場合、把持部が対象物を確実に把持することができず、搬送途中に対象物が落下する等の問題が生じる虞がある。 On the other hand, for some reason, the position of the object may deviate from the normal position. In this case, the gripping portion cannot reliably grip the object, and problems such as the object dropping during transportation may occur.

本発明の目的は、対象物の位置がずれている場合であっても、確実に対象物を把持して搬送できる搬送装置及び工作機械を提供することにある。 SUMMARY OF THE INVENTION An object of the present invention is to provide a conveying apparatus and a machine tool that can reliably grip and convey an object even if the position of the object is shifted.

本発明に係る搬送装置は、所定の軸回りに回転する2つの可動部材を含むアームを備える搬送装置において、前記2つの可動部材の間に介在し、前記2つの可動部材を繋ぐ連結部材を備え、前記連結部材は前記軸の方向に並設してある第一部材及び第二部材を有し、前記第一部材と、前記第二部材とが前記軸の方向又は前記軸と交差する方向に相対変位可能に連結している。 A conveying device according to the present invention is a conveying device comprising an arm including two movable members that rotate about a predetermined axis, and further comprising a connecting member interposed between the two movable members and connecting the two movable members. , the connecting member has a first member and a second member arranged side by side in the direction of the axis, and the first member and the second member are arranged in the direction of the axis or in a direction crossing the axis It is connected so that relative displacement is possible.

本発明にあっては、第一部材と、第二部材とが軸の方向又は軸と交差する方向に相対変位可能であるので、対象物との接触によって対象物の位置変動に対応した把持姿勢を取ることができる。故に、対象物の位置が正規の位置から変動した場合でも確実に対象物を把持することができる。 In the present invention, since the first member and the second member can be relatively displaced in the direction of the axis or in the direction intersecting the axis, the gripping posture corresponding to the positional change of the object due to contact with the object. can take Therefore, even if the position of the object deviates from the normal position, the object can be reliably gripped.

本発明に係る搬送装置は、前記第一部材及び前記第二部材は環体形状をなし、前記第一部材は前記第二部材に遊嵌してある。 In the conveying device according to the present invention, the first member and the second member are ring-shaped, and the first member is loosely fitted to the second member.

本発明にあっては、第一部材は第二部材に遊嵌してあるので、第一部材と、第二部材とが軸の方向又は前記軸と交差する方向に相対変位可能である。 In the present invention, since the first member is loosely fitted to the second member, the first member and the second member can be relatively displaced in the direction of the axis or in the direction crossing the axis.

本発明に係る搬送装置は、前記連結部材は、変位量を減らすように、前記第一部材を付勢する付勢部材を有する。 In the conveying device according to the present invention, the connecting member has a biasing member that biases the first member so as to reduce the amount of displacement.

本発明にあっては、付勢部材は第一部材を付勢して密接させて第一部材又は第二部材の変位を抑制し、変位量を減らす。 In the present invention, the urging member urges the first member to bring them into close contact with each other, suppresses displacement of the first member or the second member, and reduces the amount of displacement.

本発明に係る搬送装置は、前記第一部材及び前記第二部材の間に介在するシールを備える。 The conveying device according to the present invention comprises a seal interposed between the first member and the second member.

本発明にあっては、第一部材及び第二部材の間にシールが介在し、第一部材及び第二部材の間に埃等が入ることを防止できる。 In the present invention, the seal intervenes between the first member and the second member, and can prevent dust and the like from entering between the first member and the second member.

本発明に係る搬送装置は、前記2つの可動部材の何れか一方は、対象物を把持するハンドである。 In the conveying device according to the present invention, one of the two movable members is a hand that grips the target object.

本発明にあっては、一方の可動部材がハンドであり、連結部材はハンドと他方の可動部材との間に介在する。故に、ハンドは変位して対象物の位置変動に対応した把持姿勢を取ることができる。 In the present invention, one movable member is the hand, and the connecting member is interposed between the hand and the other movable member. Therefore, the hand can be displaced to take a gripping posture corresponding to the positional change of the object.

本発明に係る工作機械は、上述の何れかの搬送装置を備え、該搬送装置が搬送するワークを加工する。 A machine tool according to the present invention includes any one of the transport devices described above, and processes a work transported by the transport device.

本発明にあっては、搬送装置が搬送したワークに対して工作機械が加工を行う。 In the present invention, the machine tool processes the work conveyed by the conveying device.

本発明によれば、対象物の位置がずれている場合であっても、確実に対象物を把持して搬送できる。 ADVANTAGE OF THE INVENTION According to this invention, even when the position of an object shifts, an object can be reliably hold|gripped and conveyed.

実施形態に係る工作機械を示す斜視図である。It is a perspective view showing a machine tool concerning an embodiment. アーム装置の側面図である。It is a side view of an arm device. 図2において破線で囲んである部分の縦断面図である。FIG. 3 is a vertical cross-sectional view of a portion surrounded by a dashed line in FIG. 2; アーム装置の連結部材を示す斜視図である。It is a perspective view which shows the connection member of an arm apparatus. 連結部材の分解図である。4 is an exploded view of a connecting member; FIG. 第一部材及び第二部材の断面図である。It is sectional drawing of a 1st member and a 2nd member. 連結部材の断面図である。It is a sectional view of a connection member.

以下、本発明の実施形態に係る搬送装置及び工作機械を図面に基づいて説明する。以下の説明では、図に示す上下、左右及び前後を用いる。 A conveying device and a machine tool according to embodiments of the present invention will be described below with reference to the drawings. In the following description, top and bottom, left and right, and front and rear are used.

図1は実施形態に係る工作機械100を示す斜視図である。工作機械100は加工領域を囲むカバー101を備えている。カバー101の右側の側壁には開口42が設けてある。前後方向にスライドする扉43が開口42を開閉する。開口42の右側にはワーク交換装置1(搬送装置)が設けてある。 FIG. 1 is a perspective view showing a machine tool 100 according to an embodiment. The machine tool 100 has a cover 101 surrounding the machining area. An opening 42 is provided in the right side wall of the cover 101 . A door 43 sliding in the front-rear direction opens and closes the opening 42 . A work exchanging device 1 (conveying device) is provided on the right side of the opening 42 .

ワーク交換装置1は加工に用いるワークの交換等を行う。ワーク交換装置1はアーム装置10と、アーム装置10を保持する基台部12とを備える。基台部12は、前後方向に延びる筐体形状をなしており、上面に開口を有する。アーム装置10は基台部12の開口から上方向きに立ち上がる。 A work exchanging device 1 exchanges a work used for machining. The workpiece exchanging device 1 includes an arm device 10 and a base portion 12 that holds the arm device 10 . The base portion 12 has a housing shape extending in the front-rear direction, and has an opening on its upper surface. The arm device 10 rises upward from the opening of the base portion 12 .

工作機械100は、ワーク交換装置1(アーム装置10)の駆動を制御する制御箱50を備える。制御箱50は、CPU、ROM、RAM等を備える。CPUはROMに格納した制御プログラムをRAMにロードして実行することで、工作機械100とワーク交換装置1の駆動を制御する。 The machine tool 100 includes a control box 50 that controls the drive of the workpiece changer 1 (arm device 10). The control box 50 includes a CPU, ROM, RAM, and the like. The CPU loads the control program stored in the ROM into the RAM and executes it, thereby controlling the driving of the machine tool 100 and the workpiece exchanging device 1 .

図2はアーム装置10の側面図である。
アーム装置10は、第一アーム部31(可動部材)、第二アーム部32(可動部材)、保持部33、基部34を備えている。
FIG. 2 is a side view of the arm device 10. FIG.
The arm device 10 includes a first arm portion 31 (movable member), a second arm portion 32 (movable member), a holding portion 33 and a base portion 34 .

基部34は基台部12に固定してある。保持部33は基部34の上に配置してあり、第一アーム部31の一端部311を保持している。第一アーム部31は前後方向の軸回りに回転可能である。第一アーム部31の他端部312は第二アーム部32の一端部321を保持している。第二アーム部32は前後方向の軸回りに回転可能である。 Base 34 is fixed to base 12 . The holding portion 33 is arranged on the base portion 34 and holds one end portion 311 of the first arm portion 31 . The first arm portion 31 is rotatable around an axis in the front-rear direction. The other end portion 312 of the first arm portion 31 holds one end portion 321 of the second arm portion 32 . The second arm portion 32 is rotatable around an axis in the front-rear direction.

第二アーム部32の他端部322には、ワーク等の対象物を把持するハンド60が取り付けてある。図3は図2において破線で囲んである部分の縦断面図である。
第二アーム部32の内側には、ハンド60(可動部材)を回転させる把持部用モータ323が設けてある。把持部用モータ323は傘歯車を含む減速装置324に連結してある。
A hand 60 for gripping an object such as a work is attached to the other end portion 322 of the second arm portion 32 . FIG. 3 is a vertical cross-sectional view of a portion surrounded by a dashed line in FIG.
A gripper motor 323 for rotating the hand 60 (movable member) is provided inside the second arm 32 . The gripper motor 323 is coupled to a speed reducer 324 including bevel gears.

減速装置324の後側にハンド60が配置してある。減速装置324は傘歯車を介して把持部用モータ323と連結している。ハンド60は後述の連結部材20を介して減速装置324の出力側に連結してある。
即ち、第二アーム部32は、減速装置324及び連結部材20を介してハンド60を保持しており、把持部用モータ323の回転が減速装置324及び連結部材20を介してハンド60に伝わる。
A hand 60 is arranged behind the reduction gear 324 . The reduction gear 324 is connected to the gripper motor 323 via a bevel gear. The hand 60 is connected to the output side of the reduction gear 324 via a connecting member 20 which will be described later.
That is, the second arm portion 32 holds the hand 60 via the speed reducer 324 and the connecting member 20 , and the rotation of the gripper motor 323 is transmitted to the hand 60 via the speed reducer 324 and the connecting member 20 .

ハンド60は、回転部62と把持部61を備えている。回転部62は、後述の凹部621を有し、連結部材20の一部と係合している。把持部61は回転部62に取り付けてある。把持部61は把持部用モータ323の回転によって回転部62が回転することで回動する。 The hand 60 has a rotating portion 62 and a gripping portion 61 . The rotating portion 62 has a recessed portion 621 , which will be described later, and is engaged with a portion of the connecting member 20 . The gripping portion 61 is attached to the rotating portion 62 . The gripping portion 61 rotates as the rotation portion 62 rotates due to the rotation of the gripping portion motor 323 .

第二アーム部32及びハンド60の間には、減速装置324(第二アーム部32)及びハンド60を繋ぐ連結部材20が介在している。連結部材20は円環形状を有し、第一部材21と第二部材22を備える。第一部材21は回転部62と係合し、第二部材22は後述の出力円盤326と係合する。 Between the second arm portion 32 and the hand 60, a connecting member 20 that connects the reduction gear 324 (the second arm portion 32) and the hand 60 is interposed. The connecting member 20 has an annular shape and includes a first member 21 and a second member 22 . The first member 21 engages the rotating portion 62 and the second member 22 engages an output disk 326, which will be described later.

上述の如く、第二アーム部32の内側には、出力軸を下方にして把持部用モータ323が設けてある。把持部用モータ323より下方には、減速装置324が設けてある。減速装置324は、入力側に傘歯車を有しており、減速装置324の出力側に出力円盤326が設けてある。 As described above, inside the second arm portion 32, the grip portion motor 323 is provided with the output shaft directed downward. A reduction gear 324 is provided below the gripper motor 323 . The speed reducer 324 has a bevel gear on the input side, and an output disk 326 is provided on the output side of the speed reducer 324 .

把持部用モータ323の出力軸には減速装置324の入力側(傘歯車)が連結してある。出力円盤326は中心部に貫通孔を有する円環形状をなし、減速装置324の出力側に固定してある。連結部材20は出力円盤326を介して減速装置324の出力側と連結している。 An input side (bevel gear) of a reduction gear 324 is connected to the output shaft of the motor 323 for gripping portion. The output disc 326 has an annular shape with a through hole in the center and is fixed to the output side of the reduction gear 324 . The connecting member 20 is connected to the output side of the reduction gear 324 via the output disc 326 .

減速装置324及び出力円盤326の中心部に円筒形状の筒部材329が内嵌している。筒部材329は一端が拡径しており、第二アーム部32の前側に開口している。ハンド60が有する把持部61用のシリンダにエアを供給する配管(図示略)が筒部材329を通る。 A cylindrical tubular member 329 is fitted in the center of the reduction gear 324 and the output disk 326 . The tubular member 329 has an enlarged diameter at one end and opens to the front side of the second arm portion 32 . A pipe (not shown) for supplying air to the cylinder for the grasping portion 61 of the hand 60 passes through the cylindrical member 329 .

出力円盤326は回転軸心Jを中心に回転する。出力円盤326は、回転軸心Jに沿ってハンド60側に突出した円環形状の突出部を中央部に有しており、該突出部が連結部材20の第二部材22と係合している。 The output disk 326 rotates around the rotation axis J. The output disc 326 has a ring-shaped protruding part in the center that protrudes toward the hand 60 along the rotation axis J, and the protruding part engages with the second member 22 of the connecting member 20. there is

ハンド60の回転部62は、中央部に円形の凹部621を有しており、凹部621は底の中央部に回転部62を回転軸心Jに沿って貫通する貫通孔63を有する。凹部621は連結部材20の第一部材21と係合可能な寸法を有する。 The rotating part 62 of the hand 60 has a circular recess 621 in the center, and the recess 621 has a through hole 63 passing through the rotating part 62 along the rotation axis J in the center of the bottom. The recessed portion 621 has a dimension that enables engagement with the first member 21 of the connecting member 20 .

図4はアーム装置10の連結部材20を示す斜視図であり、図5は連結部材20の分解図である。
第一部材21と第二部材22は四本のボルト27で連結して組み立てる。図4は組み立てた状態を示す。第一部材21及び第二部材22の間にはリング状の内側シール23、外側シール24及び四つのバネ25が介在する。内側シール23及び外側シール24は例えばリップシールであり、変形可能である。バネ25は円筒形状であり、変形可能である。
ボルト27は、例えばリーマボルトであり、一端部の頭部、他端部の雄ネジ端部、頭部及び雄ネジ端部を除く円柱形状の胴体部を有する。
4 is a perspective view showing the connecting member 20 of the arm device 10, and FIG. 5 is an exploded view of the connecting member 20. As shown in FIG.
The first member 21 and the second member 22 are connected by four bolts 27 and assembled. FIG. 4 shows the assembled state. A ring-shaped inner seal 23 , an outer seal 24 and four springs 25 are interposed between the first member 21 and the second member 22 . The inner seal 23 and the outer seal 24 are for example lip seals and are deformable. The spring 25 is cylindrical and deformable.
The bolt 27 is, for example, a reamer bolt, and has a head at one end, a male threaded end at the other end, and a cylindrical body portion excluding the head and the male threaded end.

図6は、第一部材21及び第二部材22の断面図であり、図6Aは第一部材21を示し、図6Bは第二部材22を示す。図7は、連結部材20の断面図である。 6 are cross-sectional views of the first member 21 and the second member 22 , FIG. 6A showing the first member 21 and FIG. 6B showing the second member 22 . FIG. 7 is a cross-sectional view of the connecting member 20. As shown in FIG.

第一部材21は、第一部材21を厚み方向に貫通する中央孔212を中心部に有する。中央孔212は、ハンド60側の一面218から第二部材22側の他面219に近づくにつれて段階的に拡径している。 The first member 21 has a central hole 212 that penetrates the first member 21 in the thickness direction. The central hole 212 gradually increases in diameter from one surface 218 on the hand 60 side toward the other surface 219 on the second member 22 side.

即ち、中央孔212の一側を拡径して、第二部材22の一部と嵌合する為の嵌合部214が他面219に形成してある。一面218と嵌合部214の間には内側シール23を収容する為のシール溝部213が形成してある。中央孔212は拡径してシール溝部213を形成し、シール溝部213は拡径して嵌合部214を形成している。シール溝部213と嵌合部214は同軸心上に形成してある。 That is, a fitting portion 214 for fitting a part of the second member 22 is formed on the other surface 219 by enlarging one side of the central hole 212 . A seal groove portion 213 for accommodating the inner seal 23 is formed between the one surface 218 and the fitting portion 214 . The central hole 212 is expanded in diameter to form a seal groove portion 213 , and the seal groove portion 213 is expanded in diameter to form a fitting portion 214 . The seal groove portion 213 and the fitting portion 214 are formed coaxially.

シール溝部213は、内側シール23を内嵌している。内側シール23の外径はシール溝部213の内径と等しく、内側シール23の内径は中央孔212の他側の内径と等しい。 The inner seal 23 is fitted in the seal groove portion 213 . The outer diameter of the inner seal 23 is equal to the inner diameter of the seal groove portion 213 , and the inner diameter of the inner seal 23 is equal to the inner diameter of the other side of the central hole 212 .

第一部材21は、中央孔212の周囲に、等間隔にて四つの固定用孔217及び四つの被固定用穴220を有する。固定用孔217及び被固定用穴220は同一円周上にて、交互に、且つ等間隔に配置してある。被固定用穴220は第一部材21をハンド60の回転部62に固定する為にボルト(図示略)を通す貫通孔である。 The first member 21 has four fixing holes 217 and four fixed holes 220 at regular intervals around the central hole 212 . The fixing holes 217 and the fixed holes 220 are arranged alternately and at equal intervals on the same circumference. The fixed hole 220 is a through hole through which a bolt (not shown) is passed to fix the first member 21 to the rotating portion 62 of the hand 60 .

固定用孔217はボルト27を通す為の貫通孔であり、一面218側の一側に座ぐり211が形成してあり、他面219側の他側に座ぐり215が形成してある。座ぐり211はボルト27の頭部を収容し、座ぐり215はボルト27の胴体部を収容する。 The fixing hole 217 is a through hole through which the bolt 27 is passed. A counterbore 211 is formed on one side of the one surface 218 side, and a counterbore 215 is formed on the other side of the other surface 219 side. A counterbore 211 accommodates the head of the bolt 27 and a counterbore 215 accommodates the body of the bolt 27 .

座ぐり211の内径はボルト27の頭部の外径より大きく、座ぐり211の深さはボルト27の頭部の高さより大きいので、座ぐり211は頭部を収容可能である。ボルト27の頭部と座ぐり211の内壁との間には間隔が存在する。円板状である四つのパッキング26が座ぐり211を蓋する(図5参照)。 The inner diameter of the counterbore 211 is greater than the outer diameter of the head of the bolt 27, and the depth of the counterbore 211 is greater than the height of the head of the bolt 27, so that the counterbore 211 can accommodate the head. A gap exists between the head of the bolt 27 and the inner wall of the counterbore 211 . Four disk-shaped packings 26 cover the counterbore 211 (see FIG. 5).

固定用孔217において座ぐり211,215を除く部分(以下、固定用孔217の中間部)は、ボルト27の胴体部の外径よりも大きい内径を有しているが、第一部材21の厚み方向における寸法は胴体部の長さよりも短い。ボルト27の胴体部と固定用孔217の中間部の内壁との間には間隔が存在する。 A portion of the fixing hole 217 excluding the counterbores 211 and 215 (hereinafter referred to as an intermediate portion of the fixing hole 217) has an inner diameter larger than the outer diameter of the body portion of the bolt 27. The dimension in the thickness direction is shorter than the length of the body. A gap exists between the body of the bolt 27 and the inner wall of the intermediate portion of the fixing hole 217 .

座ぐり215は固定用孔217の中間部の内径よりも大きい内径を有し、バネ25を収容する。第一部材21及び第二部材22の組み立ての際、ボルト27はバネ25を挿通する。バネ25の外径は座ぐり215の内径と略等しく、バネ25の内径はボルト27の胴体部の外径よりも大きい。座ぐり215の深さはバネ25の自然長よりも小さい。 The counterbore 215 has an inner diameter larger than the inner diameter of the intermediate portion of the fixing hole 217 and accommodates the spring 25 . The bolt 27 passes through the spring 25 when the first member 21 and the second member 22 are assembled. The outer diameter of the spring 25 is substantially equal to the inner diameter of the counterbore 215 , and the inner diameter of the spring 25 is larger than the outer diameter of the body of the bolt 27 . The depth of counterbore 215 is smaller than the natural length of spring 25 .

第一部材21の他面219側の外周縁に、外側シール24を嵌める為のシール溝216が形成してある。外側シール24の外径は第一部材21の外径と略等しい。 A seal groove 216 for fitting the outer seal 24 is formed in the outer peripheral edge of the first member 21 on the side of the other surface 219 . The outer diameter of the outer seal 24 is approximately equal to the outer diameter of the first member 21 .

第二部材22は、第一部材21よりも大径の円板部224と、第一部材21の嵌合部214に内嵌する内嵌部221を備える。内嵌部221は円環形状を有し、円板部224の一面227の中央部に突設してある。内嵌部221と円板部224は同一軸心上に位置する。 The second member 22 includes a disk portion 224 having a diameter larger than that of the first member 21 and an inner fitting portion 221 that fits inside the fitting portion 214 of the first member 21 . The inner fitting portion 221 has an annular shape and protrudes from the central portion of one surface 227 of the disk portion 224 . The inner fitting portion 221 and the disk portion 224 are positioned on the same axis.

第二部材22は、中央部に、厚み方向に貫通する貫通孔222を有する。貫通孔222は、一側が内嵌部221の端面に開口しており、他側が拡径して拡径部226を形成している。貫通孔222は、第一部材21の中央孔212と同じ径である。拡径部226は一面227と反対側の他面228に開口している。拡径部226は貫通孔222よりも内径が大きい。出力円盤326の前記突出部が拡径部226に内嵌する。 The second member 22 has a through hole 222 penetrating in the thickness direction in the central portion. One side of the through hole 222 is open to the end surface of the inner fitting portion 221 , and the other side is enlarged to form an enlarged diameter portion 226 . The through hole 222 has the same diameter as the central hole 212 of the first member 21 . The enlarged diameter portion 226 opens to the other surface 228 opposite to the one surface 227 . The enlarged diameter portion 226 has an inner diameter larger than that of the through hole 222 . The protruding portion of the output disc 326 fits inside the enlarged diameter portion 226 .

円板部224の一面227には、内嵌部221の周囲に、四つの雌ネジ孔225が等間隔で形成してある。雌ネジ孔225はボルト27の雄ネジ端部を螺合するための孔であり、第一部材21の固定用孔217と対応する位置に形成してある。 Four female screw holes 225 are formed at regular intervals around the inner fitting portion 221 on one surface 227 of the disk portion 224 . The female screw hole 225 is a hole for screwing the male screw end of the bolt 27 and is formed at a position corresponding to the fixing hole 217 of the first member 21 .

第二部材22の内嵌部221の外径は第一部材21の嵌合部214の内径よりも小さい。内嵌部221は嵌合部214に隙間を有して嵌合する。第一部材21の中央孔212及び第二部材22の貫通孔222は連通している。第一部材21の中央孔212はハンド60の回転部62の貫通孔63と連通している。第一部材21の中央孔212と第二部材22の貫通孔222は、把持部61用のシリンダにエアを供給する配管(図示略)を通す。 The outer diameter of the inner fitting portion 221 of the second member 22 is smaller than the inner diameter of the fitting portion 214 of the first member 21 . The inner fitting portion 221 fits into the fitting portion 214 with a gap. The central hole 212 of the first member 21 and the through hole 222 of the second member 22 communicate with each other. The central hole 212 of the first member 21 communicates with the through hole 63 of the rotating portion 62 of the hand 60 . Through the central hole 212 of the first member 21 and the through hole 222 of the second member 22, a pipe (not shown) for supplying air to the cylinder for the gripping portion 61 passes.

第二部材22では、円板部224の縁部に、四つの固定用孔229が等間隔に形成してある。固定用孔229は、一面227側の一側が拡径して座ぐり223を形成してある。固定用孔229は、第二部材22を出力円盤326に固定するボルト(図示略)を通し、座ぐり223は該ボルトの頭部を収容する。固定用孔229の内径は座ぐり223の内径より小さい。 In the second member 22, four fixing holes 229 are formed at regular intervals in the edge of the disk portion 224. As shown in FIG. One side of the fixing hole 229 on the side of the one surface 227 is enlarged to form a counterbore 223 . Fixing holes 229 pass bolts (not shown) that fix the second member 22 to the output disk 326, and the counterbore 223 accommodates the heads of the bolts. The inner diameter of fixing hole 229 is smaller than the inner diameter of counterbore 223 .

図7に示すように、固定用孔217にボルト27を挿入させて第二部材22の雌ネジ孔225と螺合させることによって、第一部材21を第二部材22に連結できる。ボルト27の雄ネジ端部が第一部材21の一面218側から固定用孔217を通って第二部材22の雌ネジ孔225と螺合する。 As shown in FIG. 7, the first member 21 can be connected to the second member 22 by inserting the bolt 27 into the fixing hole 217 and screwing it into the female screw hole 225 of the second member 22 . A male threaded end portion of the bolt 27 passes through the fixing hole 217 from the one surface 218 side of the first member 21 and is screwed into the female threaded hole 225 of the second member 22 .

上述の如く、第二部材22の内嵌部221の外径は、第一部材21の嵌合部214の内径よりも小さく、内嵌部221は嵌合部214内に遊嵌している。よって、嵌合部214の内壁と内嵌部221の外周面の間には間隔G4が形成してある。 As described above, the outer diameter of the inner fitting portion 221 of the second member 22 is smaller than the inner diameter of the fitting portion 214 of the first member 21 , and the inner fitting portion 221 is loosely fitted inside the fitting portion 214 . Therefore, a gap G4 is formed between the inner wall of the fitting portion 214 and the outer peripheral surface of the inner fitting portion 221 .

第一部材21の座ぐり211の深さは、ボルト27の頭部の高さよりも大きい。各パッキング26は各ボルト27の頭部を覆い、座ぐり211を蓋している。パッキング26は、座ぐり211の内径と同じ径を有しており、例えばゴムからなる。パッキング26の一面は一面218と面一をなし、他面はボルト27の頭部と接している。 The depth of the counterbore 211 of the first member 21 is greater than the height of the head of the bolt 27 . Each packing 26 covers the head of each bolt 27 and covers the counterbore 211 . The packing 26 has the same diameter as the inner diameter of the counterbore 211 and is made of rubber, for example. One side of the packing 26 is flush with the one side 218 and the other side is in contact with the head of the bolt 27 .

連結部材20は、固定用孔229にボルト(図示略)を挿入させて出力円盤326に形成してある雌ネジ孔(図示略)と螺合させることで、第二部材22を出力円盤326に固定できる。ハンド60の回転部62に形成してある貫通孔にボルト(図示略)を通して第一部材21の被固定用穴220と螺合させることで、第一部材21をハンド60に固定できる。 The second member 22 is attached to the output disc 326 by inserting a bolt (not shown) into the fixing hole 229 and screwing it into a female screw hole (not shown) formed in the output disc 326 . can be fixed. The first member 21 can be fixed to the hand 60 by passing a bolt (not shown) through a through hole formed in the rotating portion 62 of the hand 60 and screwing it into the fixing hole 220 of the first member 21 .

ボルト27はバネ25を挿通しており、座ぐり215の内壁とボルト27の胴体部の間にはバネ25が介在している。ボルト27の胴体部とバネ25の間には間隔が存在する。座ぐり211の内径はボルト27の頭部の外径より大きく、ボルト27の頭部と座ぐり211の内壁との間には間隔が存在する。また、ボルト27の胴体部と固定用孔217の中間部の間には間隔が存在し、ボルト27の胴体部とバネ25の間にも間隔が存在する。
以下においては、ボルト27の頭部と座ぐり211の内壁との間の間隔、ボルト27の胴体部と固定用孔217の中間部の内壁との間の間隔、ボルト27の胴体部とバネ25の間の間隔を、即ちボルト27周囲の間隔をまとめて間隔G2と言う。
A spring 25 is inserted through the bolt 27 , and the spring 25 is interposed between the inner wall of the counterbore 215 and the body of the bolt 27 . A gap exists between the body of the bolt 27 and the spring 25 . The inner diameter of the counterbore 211 is larger than the outer diameter of the head of the bolt 27 , and a gap exists between the head of the bolt 27 and the inner wall of the counterbore 211 . Further, there is a gap between the body of the bolt 27 and the intermediate part of the fixing hole 217 , and there is also a gap between the body of the bolt 27 and the spring 25 .
In the following, the distance between the head of the bolt 27 and the inner wall of the counterbore 211, the distance between the body of the bolt 27 and the inner wall of the intermediate portion of the fixing hole 217, the body of the bolt 27 and the spring 25 , that is, the space around the bolt 27 is collectively referred to as the space G2.

上述の如く、第一部材21の厚み方向(回転軸心Jの方向)において、バネ25の自然長は座ぐり215の深さよりも長い。また、第一部材21と第二部材22を連結した場合、バネ25の一端面は座ぐり215の底に当接し、バネ25の他端面は第一部材21の他面219と対向する第二部材22の一面227に当接する。 As described above, the natural length of the spring 25 is longer than the depth of the counterbore 215 in the thickness direction of the first member 21 (the direction of the rotation axis J). When the first member 21 and the second member 22 are connected, one end surface of the spring 25 contacts the bottom of the counterbore 215 and the other end surface of the spring 25 faces the other surface 219 of the first member 21 . It abuts on one surface 227 of member 22 .

よって、バネ25は第二部材22から遠ざかる方向に第一部材21を付勢し、座ぐり211の底とボルト27の頭部が密接しており(図7の破線部分参照)、第一部材21の他面219と第二部材22の一面227の間に間隔G1が存在する。バネ25は変形可能であり、第一部材21が第二部材22に対して、又は第二部材22が第一部材21に対して、回転軸心Jに沿って所定範囲内で接離できる。 Therefore, the spring 25 biases the first member 21 in a direction away from the second member 22, and the bottom of the counterbore 211 and the head of the bolt 27 are in close contact (see the broken line portion in FIG. 7), and the first member A gap G1 exists between the other surface 219 of the second member 21 and the one surface 227 of the second member 22 . The spring 25 is deformable, and the first member 21 can move toward or away from the second member 22 or the second member 22 toward or away from the first member 21 along the rotation axis J within a predetermined range.

上述の如く、第一部材21及び第二部材22の間には外側シール24が介在しており、外側シール24は間隔G1を通って第一部材21及び第二部材22の間に切りくずが入り込むことを防止する。 As described above, the outer seal 24 is interposed between the first member 21 and the second member 22, and the outer seal 24 allows chips to flow between the first member 21 and the second member 22 through the gap G1. prevent entry.

また、第一部材21の他面219と第二部材22の一面227の間に間隔G1が存在するので、内嵌部221の端面と、嵌合部214の底の間にも間隔G3が形成してある。間隔G3は間隔G1と略等しい。
シール溝部213に配置してある内側シール23は内嵌部221の端面と密接しており、間隔G3を通って第一部材21及び第二部材22の間に切りくずが入り込むことを防止する。
Further, since a gap G1 exists between the other surface 219 of the first member 21 and the one surface 227 of the second member 22, a gap G3 is also formed between the end surface of the inner fitting portion 221 and the bottom of the fitting portion 214. I have The interval G3 is approximately equal to the interval G1.
The inner seal 23 arranged in the seal groove portion 213 is in close contact with the end surface of the inner fitting portion 221 to prevent chips from entering between the first member 21 and the second member 22 through the gap G3.

アーム装置10では、第二部材22の内嵌部221は第一部材21の嵌合部214内に遊嵌しており、第一部材21と第二部材22の間に間隔G1,G3,G4が存在し、ボルト27の周囲と第一部材21の間に間隔G2が存在する。第一部材21は、間隔G1,G3によって回転軸心Jに沿う方向に移動可能であり、間隔G2,G4によって回転軸心Jと直交する方向に移動可能である。即ち、図7に示す第一部材21の位置を原位置とした場合、第一部材21は、回転軸心Jに沿う方向と、回転軸心Jと交差する方向に、所定範囲内で変位することが可能である。第一部材21が回転軸心Jに沿う方向に移動する際、パッキング26は変形するので第一部材21の移動を妨げない。 In the arm device 10, the inner fitting portion 221 of the second member 22 is loosely fitted into the fitting portion 214 of the first member 21, and the gaps G1, G3, G4 are provided between the first member 21 and the second member 22. exists, and a gap G2 exists between the circumference of the bolt 27 and the first member 21 . The first member 21 is movable in the direction along the rotation axis J by the gaps G1 and G3, and is movable in the direction perpendicular to the rotation axis J by the gaps G2 and G4. That is, when the position of the first member 21 shown in FIG. 7 is the original position, the first member 21 is displaced within a predetermined range in a direction along the rotation axis J and a direction intersecting the rotation axis J. Is possible. When the first member 21 moves in the direction along the rotation axis J, the packing 26 is deformed and does not hinder the movement of the first member 21 .

即ち、第二部材22は、第一アーム部31、第二アーム部32を介して基部34に固定してあり、第一部材21はハンド60に固定してある。よって、ハンド60は回転軸心Jに沿う方向と、回転軸心Jと交差する方向へ、所定範囲内で自由にオフセットすることが可能である。 That is, the second member 22 is fixed to the base portion 34 via the first arm portion 31 and the second arm portion 32 , and the first member 21 is fixed to the hand 60 . Therefore, the hand 60 can be freely offset in a direction along the rotation axis J and a direction intersecting the rotation axis J within a predetermined range.

上述の構成を有するので、ハンド60(把持部61)がワーク等の対象物を把持する時、対象物の位置が正規の位置(計算位置)から少し変動した場合でも確実に対象物を把持することができる。把持部61は、対象物との接触によって、回転軸心Jに沿う方向と、回転軸心Jと交差する方向へ自由に変位し、対象物の位置変動に対応した把持姿勢を取ることができる。よって、確実に対象物を把持することができる。 With the above configuration, when the hand 60 (grasping portion 61) grips an object such as a work, the object can be reliably gripped even if the position of the object slightly deviates from the normal position (calculated position). be able to. The gripping part 61 can be freely displaced in a direction along the rotation axis J and in a direction intersecting the rotation axis J by contact with the object, and can take a gripping posture corresponding to the positional change of the object. . Therefore, the object can be reliably gripped.

また、上述の如く、バネ25の付勢力によって座ぐり211の底とボルト27の頭部が密接しているので、座ぐり211の底とボルト27の頭部の間に摩擦が発生する(図7の破線部分参照)。故に、該摩擦力によって、第一部材21が回転軸心Jと直交する方向に変位することを抑制でき、変位量を減らす。従って、所謂ガタツキが発生することを防止できる。 Further, as described above, since the bottom of the counterbore 211 and the head of the bolt 27 are in close contact with each other due to the biasing force of the spring 25, friction is generated between the bottom of the counterbore 211 and the head of the bolt 27 (Fig. 7 dashed line). Therefore, the frictional force can prevent the first member 21 from being displaced in the direction orthogonal to the rotation axis J, thereby reducing the amount of displacement. Therefore, it is possible to prevent the occurrence of so-called backlash.

以上においては、ボルト27と第一部材21(座ぐり215)の間にバネ25が介在している場合を例に説明したが、バネ25は必須ではなく、省いても良い。この場合でも、所定範囲内で、第一部材21が回転軸心Jに沿う方向と、回転軸心Jと交差する方向へ自由に変位できる。 Although the case where the spring 25 is interposed between the bolt 27 and the first member 21 (counterbore 215) has been described above, the spring 25 is not essential and may be omitted. Even in this case, the first member 21 can be freely displaced in the direction along the rotation axis J and in the direction intersecting the rotation axis J within a predetermined range.

以上においては、連結部材20が第二アーム部32とハンド60の間に設けてある場合を例に説明したが、これに限定せず、第一アーム部31と第二アーム部32の間、又は、保持部33と第一アーム部31の間に連結部材20を設けても良い。 In the above, the case where the connecting member 20 is provided between the second arm portion 32 and the hand 60 has been described as an example. Alternatively, the connecting member 20 may be provided between the holding portion 33 and the first arm portion 31 .

1 ワーク交換装置
10 アーム装置
20 連結部材
21 第一部材
22 第二部材
23 内側シール
24 外側シール
25 バネ
31 第一アーム部
32 第二アーム部
60 ハンド
100 工作機械
Reference Signs List 1 work exchange device 10 arm device 20 connecting member 21 first member 22 second member 23 inner seal 24 outer seal 25 spring 31 first arm portion 32 second arm portion 60 hand 100 machine tool

Claims (6)

所定の軸回りに回転する2つの可動部材を含むアームを備える搬送装置において、
前記2つの可動部材の間に介在し、前記2つの可動部材を繋ぐ連結部材を備え、
前記連結部材は前記軸の方向に並設してある第一部材及び第二部材を有し、
前記第一部材は前記2つの可動部材のうちの一方の可動部材に取り付けられており、前記第二部材は前記2つの可動部材のうちの他方の可動部材に取り付けられており、
前記第一部材と、前記第二部材とは螺合することによって、前記軸の方向又は前記軸と交差する方向に相対変位可能に連結している搬送装置。
In a conveying device comprising an arm including two movable members rotating around a predetermined axis,
A connecting member interposed between the two movable members and connecting the two movable members,
The connecting member has a first member and a second member arranged side by side in the direction of the axis,
The first member is attached to one movable member of the two movable members, the second member is attached to the other movable member of the two movable members,
The conveying device in which the first member and the second member are screwed together so as to be relatively displaceable in the direction of the axis or in the direction intersecting the axis.
前記第一部材及び前記第二部材は環体形状をなし、
前記第一部材は前記第二部材に遊嵌してある請求項1に記載の搬送装置。
The first member and the second member are ring-shaped,
2. The conveying apparatus of claim 1, wherein said first member is loosely fitted to said second member.
前記連結部材は、変位量を減らすように、前記第一部材を付勢する付勢部材を有する請求項1又は2に記載の搬送装置。 3. The conveying device according to claim 1, wherein the connecting member has a biasing member that biases the first member so as to reduce the amount of displacement. 前記第一部材及び前記第二部材の間に介在するシールを備える請求項1から3の何れか一項に記載の搬送装置。 4. A conveying device according to any one of claims 1 to 3, comprising a seal interposed between the first member and the second member. 前記2つの可動部材の何れか一方は、対象物を把持するハンドである請求項1から4の何れか一項に記載の搬送装置。 5. The conveying apparatus according to any one of claims 1 to 4, wherein one of the two movable members is a hand that grips an object. 請求項1から5の何れか一項に記載の搬送装置を備え、
該搬送装置が搬送するワークを加工する工作機械。
A conveying device according to any one of claims 1 to 5,
A machine tool for processing a work conveyed by the conveying device.
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JPH11300545A (en) * 1998-04-17 1999-11-02 Asahi Kosan Kk Floating support device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002011681A (en) 2000-06-23 2002-01-15 Koganei Corp Handling device
JP2002307366A (en) 2001-04-11 2002-10-23 Smc Corp Compliance unit
JP2016055370A (en) 2014-09-08 2016-04-21 Dmg森精機株式会社 Automatic tool changer and machine tool
JP2018043310A (en) 2016-09-13 2018-03-22 本田技研工業株式会社 floating joint

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